Add max_visual_geom parameter

Author: amacati

crazyflow/sim/sim.py

@@ -61,6 +61,7 @@ def __init__(
         self.n_worlds = n_worlds
         self.n_drones = n_drones
         self.freq = freq
+        self.max_visual_geom = 1000
 
         # Initialize MuJoCo world and data
         self._xml_path = xml_path or self.default_path
@@ -302,7 +303,7 @@ def thrust_control(self, cmd: Array):
     def render(self):
         if self.viewer is None:
             patch_viewer()
-            self.viewer = MujocoRenderer(self.mj_model, self.mj_data, max_geom=1000)
+            self.viewer = MujocoRenderer(self.mj_model, self.mj_data, max_geom=self.max_visual_geom)
         self.mj_data.qpos[:] = self.data.mjx_data.qpos[0, :]
         self.mj_data.mocap_pos[:] = self.data.mjx_data.mocap_pos[0, :]
         self.mj_data.mocap_quat[:] = self.data.mjx_data.mocap_quat[0, :]

crazyflow/utils.py

@@ -78,6 +78,9 @@ def patch_viewer():
     the rendering pipeline between `mjv_updateScene`, which deletes all previous markers, and
     `mjr_render`, so if we want to add markers to the scene, we need to do it here. The patch
     ensures that markers are added correctly to the scene.
+
+    If you want to add more markers than the default limit, you can increase the `max_visual_geom`
+    parameter in the `Sim` class.
     """
 
     def _add_marker_to_scene(self: BaseRender, marker: dict):